Systems and methods for positioning implanted devices in a patient

ABSTRACT

Systems and methods for positioning implanted devices in a patient are disclosed. A method in accordance with a particular embodiment includes, for each of a plurality of patients, receiving a target location from which to deliver a modulation signal to the patient&#39;s spinal cord. The method further includes implanting a signal delivery device within a vertebral foramen of each patient, and positioning an electrical contact carried by the signal delivery device to be within ±5 mm. of the target location, without the use of fluoroscopy. The method can still further include, for each of the plurality of patients, activating the electrical contact to modulate neural activity at the spinal cord. In further particular embodiments, RF signals, ultrasound, magnetic fields, and/or other techniques are used to locate the signal delivery device.

TECHNICAL FIELD

The present technology is directed generally to systems and methods forpositioning implanted devices in a patient.

BACKGROUND

Neurological stimulators have been developed to treat pain, movementdisorders, functional disorders, spasticity, cancer, cardiac disorders,and various other medical conditions. Implantable neurologicalstimulation systems generally have an implantable pulse generator andone or more leads that deliver electrical pulses to neurological tissueor muscle tissue. For example, several neurological stimulation systemsfor spinal cord stimulation (SCS) have cylindrical leads that include alead body with a circular cross-sectional shape and multiple conductiverings spaced apart from each other at the distal end of the lead body.The conductive rings operate as individual electrodes and the SCS leadsare typically implanted either surgically or percutaneously through alarge needle inserted into the epidural space, with or without theassistance of a stylet.

Once implanted, the pulse generator applies electrical pulses to theelectrodes, which in turn modify the function of the patient's nervoussystem, such as by altering the patient's responsiveness to sensorystimuli and/or altering the patient's motor-circuit output. During paintreatment, the pulse generator applies electrical pulses to theelectrodes, which in turn can generate sensations that mask or otherwisealter the patient's sensation of pain. For example, in many cases,patients report a tingling or paresthesia that is perceived as morepleasant and/or less uncomfortable than the underlying pain sensation.In other cases, the patients can report pain relief without paresthesiaor other sensations.

In any of the foregoing systems, it is important for the practitioner toaccurately position the stimulator in order to provide effectivetherapy. One approach to accurately positioning the stimulator is toimplant the stimulator in a surgical procedure so that the practitionerhas a clear visual access to the implantation site. However, manypatients and practitioners wish to avoid the invasiveness and associatedlikelihood for complications typical of a surgical procedure.Accordingly, many patients and practitioners prefer a less invasive(e.g., percutaneous) implantation technique. With a percutaneousapproach, the practitioner typically is unable to see exactly where thedevice is positioned because the device is beneath the patient's skinand in most SCS cases, within the patient's spinal column. In addition,the process typically requires the patient to provide feedback to thepractitioner based on that patient's sensations. Accordingly, theindustry has developed a variety of techniques for visualizing medicaldevices and anatomical features below the patient's skin as the deviceis implanted. Such techniques include fluoroscopy, which is commonlyused to aid the practitioner when implanting SCS leads. However, adrawback with fluoroscopy is that it results in added expense to the SCSimplantation procedure, it may be cumbersome to implement, it limits theimplantation procedure to sites with fluoroscopy equipment, and itexposes the patient to unwanted x-ray radiation. Accordingly, thereremains a need in the art for improved visualization techniques that canbe used to implant patient devices with greater ease, accuracy, andlower cost.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a partially schematic illustration of an implantable spinalcord modulation system positioned at a patient's spine to delivertherapeutic signals in accordance with several embodiments of thepresent disclosure.

FIG. 1B is a partially schematic, cross-sectional illustration of apatient's spine, illustrating representative locations for an implantedlead in accordance with an embodiment of the disclosure.

FIG. 2 is a partially schematic illustration of a representative signaldelivery device, signal transmission device, and signal detectiondevice, configured in accordance with an embodiment of the disclosure.

FIG. 3 is a partially schematic illustration of a signal detector systempositioned over the patient's spine in accordance with an embodiment ofthe disclosure.

FIG. 4 is an enlarged illustration of a portion of the patient's spinalcord and a representative signal detector device.

FIG. 5 is a schematic illustration of a signal detector system anddisplay for presenting results obtained during procedures in accordancewith embodiments of the disclosure.

FIG. 6 is a schematic illustration of an intrathecal penetrationdetector configured in accordance with an embodiment of the disclosure.

FIGS. 7A-7D illustrate processes for implanting patient devices inaccordance with several embodiments of the disclosure.

DETAILED DESCRIPTION

The present technology is directed generally to systems and methods forpositioning implanted devices in a patient. In at least some contexts,the systems and methods are used to implant leads proximate to thepatient's spinal cord to deliver high frequency signals that modulateneural activity at the patient's spine, in particular embodiments, toaddress chronic pain. In other embodiments, however, the systems andassociated methods can have different configurations, components, and/orprocedures. Still other embodiments may eliminate particular componentsor procedures. A person of ordinary skill in the relevant art,therefore, will understand that the present technology may include otherembodiments with additional elements, and/or may include otherembodiments without several of the features shown and described belowwith reference to FIGS. 1A-7D.

Several aspects of the technology are embodied in computing devices,e.g., programmed pulse generators, controllers and/or other devices. Thecomputing devices on which the described technology can be implementedmay include one or more central processing units, memory, input devices(e.g., input ports), output devices (e.g., display devices), storagedevices, and network devices (e.g., network interfaces). The memory andstorage devices are computer-readable media that may store instructionsthat implement the technology. In many embodiments, the computerreadable media are tangible media. In other embodiments, the datastructures and message structures may be stored or transmitted via anintangible data transmission medium, such as a signal on acommunications link. Various suitable communications links may be used,including but not limited to a local area network and/or a wide-areanetwork.

FIG. 1A schematically illustrates a representative patient system 100for providing relief from chronic pain and/or other conditions, arrangedrelative to the general anatomy of a patient's spinal cord 191. Theoverall patient system 100 can include a signal delivery system 110,which may be implanted within a patient 190, typically at or near thepatient's midline 189, and coupled to a pulse generator 121. The signaldelivery system 110 can provide therapeutic electrical signals to thepatient during operation. The overall patient system 100 can furtherinclude a signal transmission system 130 and a signal detector system140. The signals handled by the signal transmission system 130 and thesignal detector system 140 can function primarily to identify thelocation of the signal delivery system 110, rather than to providetherapy to the patient. Accordingly, the signal transmission system 130and signal detector system 140 can operate independently of the signaldelivery system 110 to guide the practitioner as he/she positionselements of the signal delivery system 110 within the patient.Nevertheless, in particular embodiments, certain elements of the signaltransmission system 130 can be shared with the signal delivery system110. Aspects of the signal delivery system 110 are described immediatelybelow, followed by a description of the signal transmission system 130and the signal detector system 140.

In a representative example, the signal delivery system 110 includes asignal delivery device 111 that carries features for delivering therapyto the patient 190 after implantation. The pulse generator 121 can beconnected directly to the signal delivery device 111, or it can becoupled to the signal delivery device 111 via a signal link 113 (e.g.,an extension). In a further representative embodiment, the signaldelivery device 111 can include an elongated lead or lead body 112. Asused herein, the terms “lead” and “lead body” include any of a number ofsuitable substrates and/or support members that carry devices forproviding therapy signals to the patient 190. For example, the lead 112can include one or more electrodes or electrical contacts that directelectrical signals into the patient's tissue, such as to provide forpatient relief. In other embodiments, the signal delivery device 111 caninclude structures other than a lead body (e.g., a paddle) that alsodirect electrical signals and/or other types of signals to the patient190.

The pulse generator 121 can transmit signals (e.g., electrical signals)to the signal delivery device 111 that up-regulate (e.g., stimulate orexcite) and/or down-regulate (e.g., block or suppress) target nerves. Asused herein, and unless otherwise noted, the terms “modulate” and“modulation” refer generally to signals that have either type of theforegoing effects on the target nerves. The pulse generator 121 caninclude a machine-readable (e.g., computer-readable) medium containinginstructions for generating and transmitting suitable therapy signals.The pulse generator 121 and/or other elements of the system 100 caninclude one or more processors 122, memories 123 and/or input/outputdevices. Accordingly, the process of providing modulation signals,providing guidance information for locating the signal delivery device111, and/or executing other associated functions can be performed bycomputer-executable instructions contained by computer-readable medialocated at the pulse generator 121 and/or other system components. Thepulse generator 121 can include multiple portions, elements, and/orsubsystems (e.g., for directing signals in accordance with multiplesignal delivery parameters), carried in a single housing, as shown inFIG. 1A, or in multiple housings.

In some embodiments, the pulse generator 121 can obtain power togenerate the therapy signals from an external power source 118. Theexternal power source 118 can transmit power to the implanted pulsegenerator 121 using electromagnetic induction (e.g., RF signals). Forexample, the external power source 118 can include an external coil 119that communicates with a corresponding internal coil (not shown) withinthe implantable pulse generator 121. The external power source 118 canbe portable for ease of use.

During at least some procedures, an external programmer 120 (e.g., atrial modulator) can be coupled to the signal delivery device 111 duringan initial procedure, prior to implanting the pulse generator 121. Forexample, a practitioner (e.g., a physician and/or a companyrepresentative) can use the external programmer 120 to vary themodulation parameters provided to the signal delivery device 111 in realtime, and select optimal or particularly efficacious parameters. Theseparameters can include the location from which the electrical signalsare emitted, as well as the characteristics of the electrical signalsprovided to the signal delivery device 111. In a typical process, thepractitioner uses a cable assembly 114 to temporarily connect theexternal programmer 120 to the signal delivery device 111. Thepractitioner can test the efficacy of the signal delivery device 111 inan initial position. The practitioner can then disconnect the cableassembly 114 (e.g., at a connector 117), reposition the signal deliverydevice 111, and reapply the electrical modulation. This process can beperformed iteratively until the practitioner obtains the desiredposition for the signal delivery device 111. Optionally, thepractitioner may move the partially implanted signal delivery element111 without disconnecting the cable assembly 114.

After a trial period with the external programmer 120, the practitionercan implant the implantable pulse generator 121 within the patient 190for longer term treatment. The signal delivery parameters provided bythe pulse generator 121 can still be updated after the pulse generator121 is implanted, via a wireless physician's programmer 125 (e.g., aphysician's remote) and/or a wireless patient programmer 124 (e.g., apatient remote). Generally, the patient 190 has control over fewerparameters than does the practitioner.

FIG. 1B is a cross-sectional illustration of the spinal cord 191 and anadjacent vertebra 195 (based generally on information from Crossman andNeary, “Neuroanatomy,” 1995 (published by Churchill Livingstone)), alongwith multiple signal delivery devices 111 (shown as signal deliverydevices 111 a-d) implanted at representative locations. For purposes ofillustration, multiple signal delivery devices 111 are shown in FIG. 1Bimplanted in a single patient. In actual use, any given patient willlikely receive fewer than all the signal delivery devices 111 shown inFIG. 1B.

The spinal cord 191 is situated within a vertebral foramen 188, betweena ventrally located ventral body 196 and a dorsally located transverseprocess 198 and spinous process 197. Arrows V and D identify the ventraland dorsal directions, respectively. The spinal cord 191 itself islocated within the dura mater 199, which also surrounds portions of thenerves exiting the spinal cord 191, including the ventral roots 192,dorsal roots 193 and dorsal root ganglia 194. In one embodiment, asingle first signal delivery device 111 a is positioned within thevertebral foramen 188, at or approximately at the spinal cord midline189. In another embodiment, two second signal delivery devices 111 b arepositioned just off the spinal cord midline 189 (e.g., about 1 mm.offset) in opposing lateral directions so that the two signal deliverydevices 111 b are spaced apart from each other by about 2 mm. In stillfurther embodiments, a single signal delivery device or pairs of signaldelivery devices can be positioned at other locations, e.g., at thedorsal root entry zone as shown by a third signal delivery device 111 c,or at the dorsal root ganglia 194, as shown by a fourth signal deliverydevice 111 d.

In any of the foregoing embodiments, it is important that the signaldelivery device 111 be placed at a target location that is expected(e.g., by a practitioner) to produce efficacious results in the patientwhen activated. The following disclosure describes techniques andsystems for improving the level of accuracy with which the devices arepositioned.

FIG. 2 is a partially schematic illustration of a representative signaldelivery device 111 that includes a lead 112 carrying a plurality ofring-shaped therapy contacts 126 positioned toward a distal end todeliver a therapy signal to the patient when the lead 112 is implanted.The lead 112 includes internal wires (not visible in FIG. 2) that extendbetween the therapy contacts 126 at the distal end of the lead 112, andcorresponding connection contacts 127 positioned at the lead proximalend. After implantation, the connection contacts 127 are connected tothe external programmer 120 or the implanted pulse generator 121discussed above with reference to FIG. 1A. During implantation, animplanting tool 160 (e.g., a stylet 161) is temporarily coupled to thelead 112 to support the lead 112 as it is inserted into the patient. Forexample, the implanting tool 160 can include a shaft 162 that isslideably and releasably inserted (via, e.g., a handle 163) into anaxially-extending opening in the lead 112. The shaft 162 is generallyflexible, but more rigid than the lead 112 to allow the practitioner toinsert the lead 112 and control its position during implantation. Astylet stop 128 at the distal end of the lead opening prevents thepractitioner from over-inserting the stylet shaft 162.

The lead 112 and/or other portions of the overall system 100 can includefeatures that guide the practitioner when positioning the lead 112 at atarget location. For example, the signal transmission system 130 can becarried by the lead 112 and/or the implanting tool 160, and cancommunicate with the signal detector system 140 located outside thepatient's body. In a particular embodiment, the signal transmissionsystem 130 includes one or more signal transmission devices 131. Forpurposes of illustration, several different signal transmission devices131 are shown together in FIG. 2 as first, second and third signaltransmission devices 131 a, 131 b, 131 c, though in most embodiments, asingle or single type of signal transmission device 131 will beimplemented. The signal transmission devices 131 communicate with thesignal detector system 140 via corresponding locator signals 132 (shownschematically as first, second and third locator signals 132 a-132 c).The signal transmission devices 131 can generate, emit, and/or reflectthe locator signals 132 in a manner that is detected by a signaldetector device 141 of the signal detector system 140. The first signaltransmission device 131 a can be carried by the lead 112, and can beindependent of (e.g., electrically isolated from) the therapy contacts126. The second signal transmission device 131 b can also be carried bythe lead 112, but can double as one of the therapy contacts 126. In aparticular aspect of this embodiment, the second signal transmissiondevice 131 b doubles as the distal-most therapy contact 126, located ator near the distal tip of the lead 112. In other embodiments, the secondsignal transmission device 131 b can double as any of the other therapycontacts 126. The third signal transmission device 131 c is carried bythe implanting tool 160, rather than the lead 112. For example, thethird signal transmission device 131 c can be located at the distal-mosttip of the implanting tool 160.

An advantageous feature of the first signal transmission device 131 a isthat its independence of therapy contacts 126 frees it from beinglimited by the particular geometry and arrangement of the therapycontacts 126, which are typically sized, configured and arranged toprovide optimal or highly effective and efficient therapy (e.g.,modulation) signals. Instead, the first signal transmission device 131 acan be tailored to provide effective and efficient first locator signals132 a, e.g., in cases where the locator signals differ significantlyfrom the therapy/modulation signals. Conversely, an advantage ofcombining the functions of the second signal transmission device 131 bwith one of the therapy contacts 126 is that it reduces the need for anadditional element in the overall patient system 100. An advantage ofthe third signal transmission device 131 c is that it can be removedfrom the patient's body when it is no longer needed for locating thelead 112. Although the configuration and individual features of thethree signal transmission devices 131 a, 131 b, and 131 c in theembodiment of FIG. 2 affords unique advantages, signal transmissionsystem 130 may comprise only a single or single type of signaltransmission device 131, two such devices or types of devices 131, ormore than three such devices or types of devices 131 in any combinationof locations, configurations, and types as herein described.

The locator signals 132 transmitted by the signal transmission device131 can have any of a variety of characteristics suitable for conveyinglocation information wirelessly through the patient's skin 187 to thesignal detector device 141. For example, in a particular embodiment, thelocator signal 132 can include a radio frequency (RF) signal having afrequency in the range of from about 10 kHz to about 30 GHz. In otherembodiments, the frequency of the locator signal 132 is outside theforegoing range. In still further embodiments, the signal transmissiondevice 131 can be a magnetic device (e.g., a permanent magnet and/or anelectromagnet) and can accordingly transmit locator signals 132 byvirtue of magnetic fields, which are detected by the signal detectordevice 141. Accordingly, the term “locator signal” as used hereinincludes a wide variety of electromagnetic fields and transmissions thatcan be received or otherwise detected by an appropriate detector device141. The signal can be generally constant, as in the case of a magneticfield produced by a permanent magnet, or varying, as in the case of anRF signal. In still a further embodiment, the locator signal 132 can bean acoustic signal (e.g., ultrasound) that is transmitted by the signaltransmission device 131 and received by the signal detector device 141.In yet another aspect of this embodiment, the locator signal canactually be emitted from a location external to the patient's body, andthe signal detector device 141 can receive or detect an echo or returnsignal, as indicated by fourth (two-way) locator signals 132 d.Accordingly, unless otherwise indicated, the term “signal transmissiondevice” includes devices that emit (e.g., actively generate) signals,and devices that reflect signals, with both types of signals selected tobe detected by the signal detector device 141.

When the signal includes a reflected ultrasound signal, the signalemitter can be co-housed with the signal detector 141 to simplify use.The signal delivery device 111 and/or the implanting tool 160 can beconstructed from materials specifically selected to be highly reflectiveto ultrasound signals and/or surface treatments to optimize ultrasoundreflectivity. Materials having densities different than the densities ofthe adjacent tissue (which has a significant water content) typicallyhave a higher acoustic impedance and accordingly generate reflectionsthat can be readily distinguished from those produced by the adjacenttissue. Such materials can include polymers such as polyethylene orpolyurethane. In other embodiments, the materials can includecompositions having higher densities and/or materials that are alsoradiopaque, so that they can be used with a fluoroscopic detectiontechnique and/or an ultrasonic detection technique. Suitable materialsinclude platinum, iridium, tantalum, titanium and/or alloys of theforegoing materials. The materials can be applied to one or more ofseveral elements of the signal delivery system 110, including thetherapy contacts 126, the stylet stop 128, and/or the end of the styletshaft 162, which can have a ball shape (e.g., a welded ball) to inhibitpenetration into the distal end of the lead 112. In other embodiments, aradiopaque and acoustically reflective ink or other coating can beapplied to any of the foregoing elements and/or to the outer surface ofthe stylet shaft 162 and/or to the outer surface of the lead 112.Suitable materials include radiopaque inks available from CJ Medical ofNorton, Mass., and sputtered tantalum available from Isoflex Biomed ofRochester, N.Y.

In any of the foregoing embodiments, locator signals are generallytransmitted (e.g., actively or by reflection) from the signaltransmission device 131 to the signal detector device 141. As discussedabove, signals can travel in both directions when the detected signal isa reflected signal. In other embodiments, the signal detector device 141can transmit additional signals to the signal transmission device 131,e.g., to power the signal transmission device 131, and/or to query thesignal transmission device 131 for additional information.

In at least some embodiments, the signal detector system 140 can includea single detector device 141, as shown in FIG. 2. In other embodiments(for example, as illustrated in FIG. 3), the signal detector system 140can include an array 142 or other plurality of detector devices orelements 143, with each detector element 143 capable of detecting andresponding to a locator signal. In a particular embodiment, the array142 is positioned on the patient's skin 187 over the patient's spine184. Each detector element 143 can be individually placed on thepatient's skin 187, or the array 142 can include a flexible supportmember 139 (e.g., a thin plastic or fabric member or single- ormulti-layer plastic or fabric composite, etc.) in which all the detectorelements 143 are incorporated or located. For example, if support member139 is a multi-layer construction of fabric and/or plastic, some or alldetector elements 143 may be incorporated between one or more layersthereof and/or affixed to one or both outer surfaces of support member139. If support member 139 is a single layer of material, detectorelements 143 may be affixed to one or both surfaces of member 139. Thesupport member 139 can be releasably attached to the patient's skin 187,e.g., via an adhesive, straps, or another suitable, releasableattachment mechanism. The support member 139 can accordingly maintain aconstant or generally constant spacing between neighboring detectorelements 143 of the array 142. The array 142 can include one or moreindex markers 146 that allow the practitioner to locate the array 142properly relative to the patient's anatomy. For example, thepractitioner can palpate and/or visually identify an anatomic feature186 of the patient (e.g., the spinous process 197 of a specific vertebra195) and locate the one or more index markers 146 relative to theanatomic feature 186. The detector elements 143 can be coupled to apower source 144 that powers the detector elements 143, and the detectorelements 143 can communicate information to other elements of theoverall system 100 via a detector output 145.

As the practitioner inserts the signal delivery system 110 along thepatient's spine 184, the signal delivery system 110 (e.g., the signaldelivery device 111 and associated implanting tool 160) can move inseveral directions. For example, as shown in FIG. 3, the signal deliverysystem 110 can move axially (or in a rostral/caudal direction) asindicated by arrows 101, laterally as indicated by arrows 102 and/or ina direct ventral/dorsal direction 103 (viewed end-on in FIG. 3). Thedirect ventral/dorsal direction 103 corresponds to a direction directlytoward or away from the spinal cord. In at least some cases, the leadmay tend to migrate around the spinal cord in a spiral fashion, asindicated by arrows 104.

Because the detector elements 143 shown in the array 142 are positionedin a plane (e.g., a generally flat plane) that contains the axial andlateral axes 101, 102, the detector elements 143 tend to be mostsensitive to the location of the signal delivery system 110 in thesegenerally orthogonal directions. The detector elements 143 may not be assensitive to motion along the ventral/dorsal axis 103, and/or motion ofthe signal delivery system 110 wrapping around the spinal cord.Accordingly, the overall system 100 can include other features that maysupplement the information received from the detector elements 143. In aparticular embodiment, the overall system 100 can include an insertiontracker 150 (shown schematically in FIG. 3) that tracks the length ofthe signal delivery device 111 that has been inserted into the patient.In a first embodiment, the insertion tracker 150 can include markings(e.g., a scale) on the signal delivery device 111 or on the implantingtool 160 that the practitioner observes to track the length of thesignal delivery device 111 that has been inserted. In anotherembodiment, the insertion tracker 150 includes a wheel 151 or othersuitable mechanical, electromechanical or electro-optic device thatautomatically determines the length of the signal delivery device 111inserted into the patient. The inserted length can be presented at adisplay 152 and/or directed remotely via an output signal 153.

In operation, the information received by the detector elements 143 canbe used to estimate a length of the signal delivery device 111 projectedinto the plane of the array 142. This estimated length can be comparedto the length indicated by the insertion tracker 150, either by thepractitioner, or in an automated manner by the overall system 100, basedon the output signal 153. If the location of the signal delivery device111 as indicated by the detector elements 143 corresponds to (e.g., isidentical or nearly identical to) the inserted length of the signaldelivery device 111 identified by the insertion tracker 150, then thesignal delivery device 111 has not likely deviated significantly from aplane located just above the spinal cord. Alternatively, if the detectorelements 143 indicate that the signal delivery device 111 is notprogressing (or progressing slowly) in the lateral or axial directions,but the insertion tracker 150 indicates that the signal delivery device111 is in fact progressing (or progressing quickly), this can indicateto the practitioner that the signal delivery device 111 is traveling outof the plane of the array 142, e.g., either penetrating toward or intothe spinal cord, or wrapping around the spinal cord. Further aspects ofthis operation are described later with reference to FIG. 5.

FIG. 4 is a partially schematic illustration of the dorsal region of thepatient's spinal cord 191, with the vertebrae 195 cut away (as shown incross-section) and with the array 142 of detector elements 143 shown inposition over the patient's spine 184. As discussed above, the array 142is typically located on the patient's skin, external to the patient'sbody, but for purposes of clarity, the patient's skin is not shown inFIG. 4. In a particular aspect of this embodiment, the detector elements143 present information corresponding to a characteristic of thedetected locator signals, in addition to detecting/receiving the locatorsignals. For example, the detector elements 143 can each be co-locatedwith a display element 147 and the display elements 143 together canform a display device 170. The display device 170 presents informationcorresponding to the strength of the signal received at individualdetector elements 143. In one aspect of this embodiment, the individualdisplay elements 147 include an LED or other light source that presentslight to the practitioner having a characteristic indicating the signalstrength detected at that location. For example, the light can bebrighter at a location where the signal is stronger, and dimmer wherethe signal is weaker. In other embodiments, the light can have one colorwhere the signal is strong and a different color where the signal isweak. In still other embodiments, the light can flash intermittentlywhere the signal is weak and remain steady where the signal is strong(or vice-versa). Combinations of the foregoing characteristics of thelight can also be used, with or without other features such as an auralsignal indicative of a strong or weak signal. For purposes ofillustration, light corresponding to strong signals is indicated in FIG.4 with a heavier shading.

As shown in FIG. 4, the signal delivery device 111 has been advancedalong the patient's spinal cord 191 via an implanting tool 160 thatcarries a signal transmission device 131 at its distal tip. Accordingly,the display elements 147 located closest to the signal transmissiondevice 131 indicate the highest strength signal, and those further awayfrom the signal transmission device 131 identify weaker signals. In somecases, the practitioner may position the signal delivery device 111 sothat the signal transmission device 131 is aligned at a selected targetlocation (e.g., a first target location 185 a). In other cases, thetarget location (e.g., a second target location 185 b) may be locatedapart from the signal emission device 131, for example, in cases forwhich the practitioner deliberately wishes to have a part of the signaldelivery device 111 other than the distal-most tip aligned with thesecond target location 185 b. In either embodiment, the practitioner canuse the information presented by the display elements 147 to locate thesignal transmission device 131 and, by knowing the relative spacingbetween the signal transmission device 131 and each of the therapycontacts 126, can locate any given therapy contact 126 with equal orgenerally equal accuracy.

In an embodiment shown in FIG. 4, the display elements 147 presentinformation corresponding to the location of the signal transmissiondevice 131 in situ, directly on the patient's skin overlying the spine.In other embodiments, this information can be presented at a remotelocation, in addition to, or in lieu of being presented in situ. Forexample, FIG. 5 illustrates a signal detector system 140 that displaysinformation at a position spaced apart from the detector elements 143(shown in FIG. 4). In a particular embodiment, the signal detectorsystem 140 includes a processor 148 and a memory 149 that receive andstore signal detector output 145 from the detector elements 143, andreceive and store insertion tracker output 153 from the insertiontracker 150 (FIG. 4). This information is processed (e.g., viainstructions contained by a computer-readable medium) and presented at adisplay device 170 a, e.g., an LCD or LED screen. The display device 170a can include a graphical depiction of the patient's spinal cord midlinevia a midline indicator 171 and can graphically display detector elementindicators 172 which are spaced apart from each other in a manner thatcorresponds to the spacing of the detector elements 143 on the patient'sback. The detector element indicators 172 can be illuminated orotherwise presented in a manner that distinguishes strong detectedsignals from weaker detected signals, e.g, as previously described withrespect to the embodiment of FIG. 4. In addition to or in lieu ofpresenting the detector element indicators 172, the display device 170 acan present a signal delivery device indicator 173 that represents thelocation of the signal delivery device as determined by the signaldetector system 140, based on the information received at the detectorelements 143 (e.g., using a suitable interpolation scheme). Accordingly,the practitioner can view the display device 170 a to obtain a graphicalpresentation of the location of the signal delivery device (which is notvisible) relative to the patient's midline and the receiver elements 143(which are visible).

The foregoing information received from the detector elements 143 can becombined with information received via the insertion tracker output 153to indicate when the signal delivery device 111 (FIG. 4) moves out ofplane. As discussed above, it is expected that the signal deliverydevice 111 will be out of plane when the lead length determined via thearray 142 of detector elements 143 is less than the lead lengthdetermined by the insertion tracker 150. This information can bepresented via an out-of-plane indicator 174 that illuminates when thelead is out of plane. This information can also be conveyed to thepractitioner via an inserted length display 176 which compares thecalculated length of the signal delivery device in the plane of thearray 142, with the measured length of the signal delivery deviceactually inserted into the patient. The information presented at thedisplay device 170 a can still further include an intrathecalpenetration indicator 175, which indicates that the dura around thespinal cord has been penetrated. Further information corresponding tothis aspect of the system is described further below with reference toFIG. 6.

FIG. 6 schematically illustrates an intrathecal penetration detector 180that can be used alone or in conjunction with other features of theoverall patient system 100 described above to aid the practitioner inidentifying the location of the signal delivery device 111. Theintrathecal penetration detector 180 take advantage of the low impedancethat cerebral spinal fluid (CSF) has relative to the surrounding tissuein the spinal cord region. In particular, the intrathecal penetrationdetector 180 can use the impedance difference between CSF and thesurrounding tissue to determine whether the dura 199 around the spinalcord 191 has been penetrated. In a particular embodiment, theintrathecal penetration detector 180 can detect an unexpectedly lowimpedance of a circuit that includes the signal delivery device 111 andthe adjacent patient tissue, and identify this event to the practitioneras an indication that the signal delivery device 111 has potentiallydamaged or penetrated through the dura 199 of the patient's spinal cord191. In most applications, it is undesirable to penetrate the dura 199and therefore providing an indication of intrathecal penetration canallow the practitioner to withdraw and reposition the signal deliverydevice 111, optionally repair the damaged dura 199, and complete theprocess of implanting the signal delivery device 111.

In a particular embodiment, the intrathecal penetration detector 180includes a power source 181 that applies a detection signal to adetection circuit 183. The detection circuit 183 includes patienttissue, and can further include one or more of the therapy contacts 126in contact with the patient tissue. Using the therapy contacts 126 aspart of the impedance circuit 183 reduces the need for adding additionalfeatures to the signal delivery device 111; nevertheless, in anotherembodiment, the signal delivery device 111 can carry contacts that arededicated to impedance detection. In a particular embodiment, thedetection circuit 183 can include two selected therapy contacts 126 andthe patient tissue located between the two therapy contacts 126. Inanother embodiment, the detection circuit 183 can include a singletherapy contact 126 and ground (e.g., a patient ground pad).

The intrathecal penetration detector 180 further includes an impedancedetector 182 in the detection circuit 183 that identifies the impedanceof the circuit 183. The impedance detector 182 can be connected to theprocessor 148, memory 149, and display device 170 a described above withreference to FIG. 5 or to another processor and/or output device. Inoperation, the power source 181 provides a detection signal (e.g., apulsed subthreshold signal with a current amplitude of about 0.2milliamps, a pulse width of about 80 microseconds). The detection signalcan be subthreshold to avoid inadvertently stimulating the patients'motor and/or sensory neural pathways. The pulses can be delivered inbursts at any suitable frequency, e.g., a frequency provided by theexternal programmer 120 (FIG. 1A). In a representative embodiment, thefrequency can coincide with a representative therapy frequency (e.g.,about 3 kHz to about 50 kHz) and in other embodiments, can have othervalues.

It is generally expected that the impedance of a circuit that includestwo therapy contacts 126, as shown schematically in FIG. 6, will have animpedance of less than 1000 ohms, and typically an impedance in therange of about 300 ohms to about 600 ohms. If the impedance falls belowa first threshold (e.g., about 200 ohms), the detector 180 and/or otherelements of the system 100 can issue a warning, calling thepractitioner's attention to the possibility of a CSF leak. If theimpedance falls below a second threshold, e.g., about 50 ohms, thedetector 180 and/or other elements of the system 100 can indicate alikely intrathecal penetration by the contact(s) 126 a that are includedin the detection circuit 183. As discussed above with reference to FIG.5, this indication can be presented at the display device 170. In otherembodiments, the indication can be presented in other manners, e.g.,aurally. In still further embodiments, the foregoing threshold levelsmay have different values. For example, if the implant procedureincludes using large amounts of saline, the “typical” impedance may fallfrom 300-600 ohms to 180 ohms, in which case the practitioner mayrequire a lower threshold level (e.g., 150 ohms rather than 200 ohms)for an indication of CSF leakage. In other patients, e.g., patients witha significant amount of scar tissue, the “typical” impedance may be muchlarger than 1000 ohms, e.g., 200 ohms.

In a particular embodiment, the practitioner can select from any of thetherapy contacts 126 to be included in the impedance detection circuit183. In at least some embodiments, the practitioner may wish to includethe distal-most therapy contact (e.g., at the distal tip of the signaldelivery device 111) in the detection circuit 183 to provide an earlyindication that the signal delivery device 111 has penetrated the dura199. If the signal delivery device 111 does not include a therapycontact 126 at the tip, a special-purpose contact can be added to thesignal delivery device 111, or the practitioner can use the therapycontact 126 closest to the tip. In other embodiments, the practitionermay wish to include one or more of the other therapy contacts 126 in thecircuit, for example, to identify the extent and/or rate of a cerebralspinal fluid leak, and/or for other diagnostic purposes.

As discussed above, the information received from the impedance detector182 can be processed to indicate to the practitioner whether or not thedura 199 has been penetrated. The information can be provided in afairly straightforward manner, e.g., by indicating either no intrathecalpenetration or intrathecal penetration, optionally with an intermediateindication of likely CSF leakage. In other embodiments, the intrathecalpenetration detector 180 can provide more sophisticated information. Forexample, the intrathecal penetration detector 180 can employ a multiplexarrangement or other suitable signal processing arrangement to scan overthe therapy contacts 126 and identify issues or insipient issuesassociated with any of the contacts 126. The intrathecal penetrationdetector 180 can track a rate at which a drop in impedance passes alongthe signal delivery device 111 (e.g., as detected by multiple therapycontacts 126) to provide the practitioner with an indication of the rateat which CSF is leaking from the dura 199. In other embodiments, theintrathecal penetration detector 180 can include other arrangements. Forexample, the intrathecal penetration detector 180 can indicate whichcontacts(s) 126 have lower than expected associated impedance. In aparticular example, the tip of the signal delivery device may penetratethe dura 199 by breaking the continuity of the dura 199 without actuallyproceeding into the subdural space. Leaking CSF may then be indicated bylow impedances at proximal therapy contacts 126 as they pass by thebreak in the dura 199, and/or as CSF flows in a proximal direction, buta normal impedance (at least for a period of time) at the distalmosttherapy contact 126.

FIGS. 7A-7D illustrate flow diagrams of methods in accordance withseveral embodiments of the disclosure described above. As describedabove, many of the steps in these methods may be performed automaticallyby instructions contained in one or more computer readable media. FIG.7A illustrates a process 700 a that includes, for each of a plurality ofpatients, receiving a target location from which to deliver a modulationsignal to the patient's spinal cord (process portion 701 a). The targetlocation can be a single location or one of multiple locations, and canhave axial and lateral coordinates selected to produce a desired patienteffect. The process 700 a can further include implanting a signaldelivery device within a vertebral foramen of the patient, andpositioning an electrical contact carried by the signal delivery deviceto be within ±5 mm. of the target location (process portion 702 a). Inparticular embodiments, this accuracy level can be obtained in the axialand/or lateral directions via a single signal detector or via an arrayof detector elements. The same level of accuracy can be obtained in thedorsal/ventral direction, e.g., via an insertion tracker or othersuitable methodology.

The foregoing process can be performed without the use of fluoroscopy(process portion 703 a). For example, in particular embodiments, thepractitioner can use electromagnetic techniques (e.g., RF or magnetictechniques) or ultrasound techniques to accurately implant the signaldelivery device on a consistent, repeatable basis over multiple patients(e.g., a patient population numbering in the tens or hundreds or more).In further particular embodiments, the accuracy of this method can bebetter than ±5 mm., e.g., ±2 mm. or ±1 mm., depending on factors thatinclude, but are not limited to, the sensitivity of the signal detectoror signal detector elements, the unidirectionality of the signaltransmitters, and the spacing between signal detector elements. In anyof these embodiments, the ability to locate the signal delivery devicewithin the foregoing ranges without the use of fluoroscopy can simplifythe implanting process, and can reduce the patient's exposure to x-rayradiation. In addition, fluoroscopy devices can be cumbersome and, dueto the protective gear worn by the practitioner, can interfere with thepractitioner's freedom of movement. Still further, fluoroscopy equipmentis generally expensive and not generally available in remote and/ordeveloping parts of the world. The current technology can reduce oreliminate the dependence on fluoroscopy for accurate device placementwhich can in turn allow the device and associated therapy to be used ina larger number of treatment centers (i.e., those without fluoroscopicequipment) and a concomitant potentially greater number of patients inneed of such therapy.

Optionally, the process 700 a can be performed with less or no patientfeedback (process portion 704 a). For example, the increased accuracywith which the signal delivery device is implanted in the first instancecan reduce the number of subsequent iterations the practitioner andpatient engage in to identify an effective location for the signaldelivery device and associated therapy contacts. Such iterations caninclude moving the signal delivery device and/or selecting differentactive contacts on the signal delivery device.

Once the signal delivery device is implanted, it can be activated tomodulate neural activity at the spinal cord (process portion 705 a). Ina particular embodiment, the therapy includes RF signals delivered tothe patient's spinal cord at a frequency of from about 3 kHz to about 50kHz to address patient pain. Further details of suitable signal deliveryparameters are included in pending U.S. patent application Ser. No.12/765,747, filed on Apr. 22, 2010 and incorporated herein by referencein its entirety. In other embodiments, the signal delivery device canprovide signals in accordance with other signal delivery parameters totreat the same or other patient indications, at the same or otherimplantation sites.

FIG. 7B is a flow diagram illustrating a process 700 b in accordancewith another embodiment of the disclosure, which includes implanting animplantable signal delivery system beneath the patient's skin and into avertebral foramen of at least one of the patient's vertebrae (processportion 701 b). The signal delivery system includes a signal deliverydevice having at least one electrical contact. In process portion 702 b,a locator signal is emitted from the signal delivery system. Asdiscussed above, the locator signal can be emitted from the signaldelivery device and/or from an implanting tool that temporarily carriesthe signal delivery device during an implanting process. In processportion 703 b, the locator signal is detected from a position externalto the patient. In particular embodiments, the locator signal can bedetected at a plurality of locations via an array of signal detectors(process portion 704 b). In such embodiments, the results can bepresented at a display indicating the relative signal strength receivedat the signal detectors (process portion 705 b). Based at least in parton detecting the locator signal, the practitioner can adjust a positionof the signal delivery device relative to the patient's spinal cord(process portion 706 b) and the practitioner can then direct a therapysignal from the electrical contact (process portion 707 b). As discussedabove, an advantage of methods performed in accordance with the flowdiagram shown in FIG. 7B is that they can allow the practitioner toaccurately position the signal delivery device, e.g., without usingfluoroscopy.

FIG. 7C illustrates another process 700 c in accordance with anembodiment of the disclosure that includes receiving a plurality ofindications of the strength of a locator signal from a correspondingplurality of signals detectors (process portion 701 c). The signaldetectors are positioned in an array external to the patient to form aplane extending laterally and in a rostral/caudal direction (e.g., anaxial direction). In process portion 702 c, a first length (e.g., aprojected length of an implanted portion of the signal delivery devicein the plane of the array) is identified, based upon the plurality ofindications received in process portion 701 c. In process portion 703 c,an indication of the second length (e.g., an actual length) of theimplanted portion of the signal delivery device is received. Forexample, process portion 703 c can include receiving an indication ofthe actual implanted length via the insertion tracker discussed abovewith reference to FIG. 6. In process portion 704 c, the second length ofthe implanted portion of the lead is compared with the first length and,based on a difference between the actual length and the projectedlength, an indication of a ventral/dorsal location of the signaldelivery system is provided. For example, if the actual and projectedlengths differ by more than a threshold amount (e.g., one mm. in oneembodiment and other values in other embodiments), the foregoingindication can be triggered. The foregoing arrangement can be used toaccount for the fact that the signal delivery device may move alongthree different axes, while the detector array is positioned in, orgenerally in, a two-dimensional plane.

FIG. 7D illustrates a process 700 d that may be used independently of orin conjunction with any of the foregoing methods described above withreference to FIGS. 7A-7C. In particular, the process 700 d includesintroducing an electrical contact into a patient, proximate to thepatient's dura (process portion 701 d). In process portion 702 d, animpedance of an electrical circuit that includes the electrical contactand patient tissue adjacent to the electrical contact is detected.Process portion 703 d includes comparing the detected impedance to apredetermined criterion (e.g., a threshold impedance value). If thedetected impedance meets the predetermined criterion, then the process700 d can include identifying penetration of the patient's dura based atleast in part on the detected impedance (process portion 704 d). Asdiscussed above, penetration can include breaking the continuity of thedura, whether or not the electrical contact actually passes through thedura to an intrathecal location. As was also discussed above, thepredetermined criterion can include an impedance value at or below whichdetected impedances correspond to exposure to cerebral spinal fluid. Anadvantage of the foregoing methodology (and associated computer readablemedia and methods for programming the computer readable media) is thatthe practitioner can receive an early indication that the dura has beenpenetrated, and can take appropriate corrective action. Correctiveactions include re-positioning the signal delivery device and possiblyrepairing damaged dural tissue.

From the foregoing, it will be appreciated that specific embodiments ofthe technology have been described herein for purposes of illustration,but that various modifications may be made without deviating from thetechnology. For example, in other embodiments, the foregoing systems andmethods can be used to locate devices other than spinal cord implants.In a particular embodiment, the intrathecal detection device andmethodology described above can be applied to other areas of thepatient's body that are surrounded by the dura and contain cerebralspinal fluid, for example, the brain. In still further embodiments,these devices and methodologies can be applied to implantable patientdevices other than neural modulators (e.g., other elements configuredfor patient implantation, with therapy contacts in at least some cases).The implanting tools described above can have configurations other thana stylet (e.g., a catheter) in other embodiments. The locator signalemitters and/ detectors can be omnidirectional in certain embodiments orcan be unidirectional in other embodiments. In certain embodiments,phase shift and/or phased array techniques can be implemented to enhancesystem efficacy. The signal delivery system can include one transmissiondevice in certain embodiments, and more than one transmission device inother embodiments.

Certain aspects of the technology described in the context of particularembodiments may be combined or eliminated in other embodiments. Forexample, the display 170 a described above with reference to FIG. 5 mayin some embodiments be made thin and flexible enough to be placeddirectly on the patient's body, with the detector elements integratedinto the display medium. Accordingly, the practitioner can obtain thebenefit of a graphical representation of the implanted signal deliverydevice, together with the proximity of the display to the actuallocation of the signal delivery device. The use of an aural indicatordescribed above in the context of the intrathecal penetration detectorcan be applied to the technique for locating the signal delivery devicerelative to other motion axes, in addition to or in lieu of presentingthe information via a visual display. For example, the aural indicationcan be triggered if the signal delivery device exceeds a thresholddistance from the patient's midline. Further, while advantagesassociated with certain embodiments have been described in the contextof those embodiments, other embodiments may also exhibit such advantagesand not all embodiments need necessarily exhibit such advantages to fallwithin the scope of the present disclosure. Accordingly, the disclosureand associated technology can encompass other embodiments not expresslydescribed or shown herein.

1-61. (canceled)
 62. A computer readable medium for use with a patient,having instructions that, when executed: receive locator signalinformation from an array of external signal detector elements placed onthe patient, the locator signal information emitted by a signal deliverysystem placed within the patient and detected by the array of externalsignal detector elements, wherein the array of external signal detectorelements are arranged to define a plane; and transmit the locator signalinformation to an array of display elements such that individual displayelements display data based on the received locator signal information,wherein individual signal detector elements and the correspondingindividual display elements are co-located to have the same coordinatesin the plane.
 63. The computer-readable medium of claim 62 havinginstructions that, when executed: compare a first length of the signaldelivery system based on information received from the external signaldetector elements and corresponding to a projected length of the signaldelivery system in a plane of the external signal detector elements,with a second length of the signal delivery system based on informationreceived from the insertion tracker; and provide an indication when thefirst and second lengths differ by at least a threshold amount.
 64. Thecomputer-readable medium of claim 62 having instructions that, whenexecuted: direct the display elements to provide an indication of asignal strength detected at the external signal detector elements,wherein the display elements are operatively coupled to the externalsignal detector elements.
 65. The computer readable medium of claim 62wherein the signal delivery system further comprises an insertiontracker operably coupleable to the signal delivery system and configuredto track a length of the signal delivery system placed within thepatient.
 66. The computer-readable medium of claim 62 wherein thelocator signal information includes a radio frequency (RF) signal. 67.The computer-readable medium of claim 66 wherein the radio frequency(RF) signal is at a frequency from about 10 kHz to about 30 GHz.
 68. Thecomputer readable medium of claim 62 wherein the signal delivery systemfurther comprises signal transmission device configured to transmit thelocator signal information.
 69. The computer readable medium of claim 62wherein the locator signal information is transmitted by magnetic fieldsand detected by the signal detector elements.
 70. A method forconfiguring a computer readable medium for use with a patient,comprising: programming the computer readable medium to: receive locatorsignal information from an array of external signal detector elementsplaced on the patient, the locator signal information emitted by asignal delivery system placed within the patient and detected by thearray of external signal detector elements, wherein the array ofexternal signal detector elements are arranged to define a plane; andtransmit the locator signal information to an array of display elementssuch that individual display elements display data based on the receivedlocator signal information, wherein individual signal detector elementsand the corresponding individual display elements are co-located to havethe same coordinates in the plane.
 71. The method of claim 70 whereinthe computer readable medium is programmed to: compare a first length ofthe signal delivery system based on information received from theexternal signal detector elements and corresponding to a projectedlength of the signal delivery system in a plane of the external signaldetector elements, with a second length of the signal delivery systembased on information received from the insertion tracker; and provide anindication when the first and second lengths differ by at least athreshold amount.
 72. The method of claim 70 wherein the computerreadable medium is programmed to: instruct the display elements toprovide an indication of a signal strength detected at the externalsignal detector elements, wherein the display elements are operativelycoupled to the external signal detector elements.
 73. The method ofclaim 70 wherein the signal delivery system further comprises aninsertion tracker operably coupleable to the signal delivery system andconfigured to track a length of the signal delivery system placed withinthe patient.
 74. The computer-readable medium of claim 70 wherein thelocator signal information includes a radio frequency (RF) signal. 75.The computer readable medium of claim 70 wherein the signal deliverysystem further comprises signal transmission device configured totransmit the locator signal information.